/**
 * Copyright (c) 2018, University Osnabrück
 * All rights reserved.
 *
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 * modification, are permitted provided that the following conditions are met:
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the University Osnabrück nor the
 *       names of its contributors may be used to endorse or promote products
 *       derived from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL University Osnabrück BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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 */

/*
 * PointsetGrid.hpp
 *
 *  Created on: Nov 27, 2014
 *      Author: twiemann
 */

#ifndef _LVR2_RECONSTRUCTION_POINTSETGRID_H_
#define _LVR2_RECONSTRUCTION_POINTSETGRID_H_

#include "HashGrid.hpp"

#include "PointsetSurface.hpp"
#include "lvr2/geometry/BoundingBox.hpp"

namespace lvr2
{

template<typename BaseVecT, typename BoxT>
class PointsetGrid: public HashGrid<BaseVecT, BoxT>
{
public:
    PointsetGrid(
        float cellSize,
        PointsetSurfacePtr<BaseVecT> surface,
        BoundingBox<BaseVecT> bb,
        bool isVoxelsize = true,
        bool extrude = true
    );

    virtual ~PointsetGrid() {}

    void calcDistanceValues();

private:

    /**
     * @brief Rounds the given value to the neares integer value
     */
    inline int calcIndex(float f)
    {
        return f < 0 ? f - .5 : f + .5;
    }

    PointsetSurfacePtr<BaseVecT> m_surface;
};

} // namespace lvr2

#include "lvr2/reconstruction/PointsetGrid.tcc"


#endif // _LVR2_RECONSTRUCTION_POINTSETGRID_H_
